Position and orientation tracking system, apparatus and method

ABSTRACT

A position and orientation determining system includes a first radio frequency (RF) device including at least one antenna configured to receive and transmit RF signals, a first radio unit in communication with the at least one antenna, and an inertial measurement unit (IMU). The system further includes a second RF device includes a constellation of antennae including at least three receiving antennae, a second radio unit in communication with the constellation of antennae, and a processor configured to determine a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on computing at least two of three angles in the second RF device coordinate frame (XY, XZ and YZ) computed from carrier phase difference (CPD) measurements taken between each pair of the at least three receiving antennae when receiving a single RF signal transmitted from the at least one antenna of the first RF device, and estimating a direction of a gravity vector generated by the IMU.

FIELD

This disclosure generally relates to the detection and tracking of anelectronic device in an augmented and/or virtual reality environment.The disclosure more particularly relates to determining a position andangular orientation of an electronic device relative to an environmentand/or a coordinate frame, and thereby sending signals to a graphicdisplay based on determining the position and angular orientation of theelectronic device.

BACKGROUND

An augmented reality (AR) and/or a virtual reality (VR) system maygenerate a visual three-dimensional (3D) immersive environment. A usermay experience this virtual environment through interaction with variouselectronic devices, such as, for example, a helmet or other head mounteddevice including a display, glasses or goggles that a user looks throughwhen viewing a display device, gloves fitted with sensors, externalhandheld devices that include sensors, and other such electronicdevices. Once immersed in the AR/VR environment, user interaction withthe AR/VR environment may take various forms, such as, for example,physical movement and/or manipulation of the handheld electronic deviceand/or the head mounted device to interact with, personalize and controlthe virtual environment.

A user immersed in an AR/VR reality environment wearing, for example, ahead mounted display (HMD) device may explore the 3D virtual environmentand interact with the 3D virtual environment through, for example,physical interaction (such as, for example, hand/arm gestures, headmovement, walking and the like) and/or manipulation of the HMD and/or aseparate electronic device to experience the virtual environment. Forexample, in some implementations, the HMD may be paired with a handheldelectronic device, such as, for example, a controller, a gyro mouse, orother such handheld electronic device. User manipulation of the handheldelectronic device paired with the HMD may allow the user to interactwith the features in the virtual environment generated by the HMD.

However, tracking objects for AR/VR within the virtual environment is achallenging problem since tracking must be fast and accurate enough totrack real-time motion for an AR/VR operator to use a variety of motionswithout motion sickness or a sense of “clunkiness.” Typical problemsthat exist with six degrees of freedom tracking in AR/VR environmentsmay include: the lack of smooth and accurate tracking of a controller'sposition and attitude relative to another sensor system, e.g., the HMD,and/or relative to the world and real objects in the immediateenvironment; large latency issued leading to non-real-time tracking; alack of robustness of tracking performance when line-of-sight betweenthe HMD and a controller is obscured or blocked; and high system andcomponent cost and complexity not suitable for commercial applications.

SUMMARY

The illustrative embodiments of method, systems and devices presentedherein provide high resolution position and orientation determination ofRF devices based on carrier signals being transmitted between twocorresponding RF devices. Once the carrier signals are received bycorresponding antennae on each of the RF devices, the carrier signalsare processed to determine a number of distance and velocity productsthat may be coupled with RF device inertial data to very accuratelydetermine both the position and orientation of one RF device relative tothe other RF device.

In one illustrative embodiment disclosed herein, a position determiningsystem includes a first radio frequency (RF) device including at leastone antenna configured to receive and transmit RF signals, and a firstradio unit in communication with the at least one antenna. The positiondetermining system further includes a second RF device including aconstellation of antennae including at least three receiving antennae, asecond radio unit in communication with the constellation of antennae;and a processor. The processor is configured to determine athree-dimensional position of the first RF device relative to the secondRF device based on computing at least two of three angles in the secondRF device coordinate frame (XY, XZ and YZ) computed from carrier phasedifference (CPD) measurements taken between each pair of the at leastthree receiving antennae when receiving a single RF signal transmittedfrom the at least one antenna of the first RF device.

In another illustrative embodiment disclosed herein, a position andorientation determining system includes a first radio frequency (RF)device including at least one antenna configured to receive and transmitRF signals, a first radio unit in communication with the at least oneantenna and an inertial measurement unit (IMU). The position determiningsystem further includes a second RF device including a constellation ofantennae including at least three receiving antennae, a second radiounit in communication with the constellation of antennae; and aprocessor. The processor is configured to determine a three-dimensionalposition of the first RF device relative to the second RF device basedon computing at least two of three angles in the second RF devicecoordinate frame (XY, XZ and YZ) computed from carrier phase difference(CPD) measurements taken between each pair of the at least threereceiving antennae when receiving a single RF signal transmitted fromthe at least one antenna of the first RF device, and further estimatinga direction of a gravity vector generated by the IMU.

In another illustrative embodiment disclosed herein, a method ofdetermining a three-dimensional position of a first radio frequency (RF)device relative to a second RF device. The method includes providing thefirst RF device including at least one antenna configured to receive andtransmit RF signals, and a first radio unit in communication with the atleast one antenna. The method further includes providing the second RFdevice including a constellation of antennae including at least threereceiving antennae, a second radio unit in communication with theconstellation of antennae, and a processor in communication with thesecond radio unit and the constellation of antennae. The method furtherincludes determining, by the processor of the second RF device, athree-dimensional position of the first RF device relative to the secondRF device based on computing at least two of three angles in the secondRF device coordinate frame (XY, XZ and YZ) computed from carrier phasedifference (CPD) measurements taken between each pair of the at leastthree receiving antennae when receiving a single RF signal transmittedfrom the at least one antenna of the first RF device.

It should be appreciated that this Summary is provided to introduce aselection of concepts in a simplified form that are further describedbelow in the Detailed Description. This Summary is not intended to beused to limit the scope of the claimed subject matter.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The illustrative embodiments of the invention will be better understoodfrom the following detailed description with reference to the drawings,which are not necessarily drawing to scale and in which:

FIG. 1 illustrates a schematic diagram of the general context of theillustrative embodiments presented herein of a position and orientationtracking system;

FIG. 2 illustrates a logical element schematic of a TCR Controllerdevice;

FIG. 3 illustrates a logical element schematic of a HMD device;

FIG. 4 illustrates a schematic diagram of one illustrative embodiment ofsensor hardware on a TCR Controller device;

FIG. 5 illustrates a schematic diagram of one illustrative embodiment ofsensor hardware on a TCR HMD device;

FIG. 6 illustrates a schematic antennae diagram used to calculateCarrier Phase Difference (CPD);

FIG. 7 illustrates example CPD data with both a Distance Difference anda Mobile Antennae Relative Angle;

FIG. 8 illustrates a carrier frequency for Carrier Phase Rangedetermination;

FIG. 9 illustrates a signal processing schematic diagram representingsignal paths of raw data observable measurements and their correspondingprocessing via sensor fusion algorithms into a fused data output;

FIG. 10 illustrates a first communication sequence between correspondingTCR devices of the position and orientation determining system;

FIG. 11 illustrates a second subsequent communication sequence betweencorresponding TCR devices of the position and orientation determiningsystem;

FIG. 12 illustrates a schematic diagram of one illustrative embodimentof a position and orientation determining system comprising a TCRTransponder device and a TCR Originator device, where a position andorientation of the TCR Transponder device is calculated relative to areference frame of the TCR Originator device;

FIG. 13 illustrates a logic flowchart describing a method of determininga position and orientation of the TCR Transponder device relative to theTCR Originator device;

FIG. 14 illustrates a schematic diagram of another illustrativeembodiment of a position and orientation determining system comprising aTCR Originator device, a TCR Transponder device and an external TCRprocessing device;

FIGS. 15-16 illustrate a logic flowchart describing method ofdetermining a position and orientation of an object in accordance withthe illustration of and corresponding description of FIG. 14 ;

FIG. 17 illustrates a schematic diagram of another illustrativeembodiment of a position and orientation determining system comprising aTCR Originator device, a TCR Transponder device and an externalreference frame;

FIGS. 18-19 illustrate a logic flowchart describing method ofdetermining a position and orientation of an object in accordance withthe illustration and corresponding description of FIG. 17 ;

FIG. 20 illustrates a schematic diagram of an exemplary hardwareenvironment that can be used to implement the TCR devices presented inthe illustrative embodiments described in FIGS. 1-19 and 21-33 , below;

FIG. 21 illustrates a second embodiment of a logical element schematicof a TCR Controller device;

FIG. 22 illustrates a second embodiment of a schematic diagram of anillustrative sensor hardware on a TCR Controller device;

FIG. 23 illustrates a second embodiment of a signal processing schematicdiagram representing signal paths of raw data observable measurementsand their corresponding processing via sensor fusion algorithms into afused data output

FIG. 24 illustrates a second embodiment of a first communicationsequence between corresponding TCR devices of the position andorientation determining system;

FIG. 25 illustrates a second embodiment of a second subsequentcommunication sequence between corresponding TCR devices of the positionand orientation determining system;

FIG. 26 illustrates a second embodiment of a schematic diagram of oneillustrative embodiment of a position and orientation determining systemcomprising a TCR Transponder device and a TCR Originator device, where aposition and orientation of the TCR Transponder device is calculatedrelative to a reference frame of the TCR Originator device;

FIG. 27 illustrates a second embodiment of a logic flowchart describinga method of determining a position and orientation of the TCRTransponder device relative to the TCR Originator device;

FIG. 28 illustrates a second embodiment of a schematic diagram ofanother illustrative embodiment of a position and orientationdetermining system comprising a TCR Originator device, a TCR Transponderdevice and an external TCR processing device;

FIGS. 29-30 illustrate a second embodiment of a logic flowchartdescribing method of determining a position and orientation of an objectin accordance with the illustration of and corresponding description ofFIG. 28 ;

FIG. 31 illustrates a second embodiment of a schematic diagram ofanother illustrative embodiment of a position and orientationdetermining system comprising a TCR Originator device, a TCR Transponderdevice and an external reference frame; and

FIGS. 32-33 illustrate a second embodiment of a logic flowchartdescribing method of determining a position and orientation of an objectin accordance with the illustration and corresponding description ofFIG. 31 .

DETAILED DESCRIPTION

The illustrative embodiments presented herein for six-degrees of freedomtracking leverages previously developed and patented high accuracy andprecision, high measurement rate radio frequency (RF) sensing methods.These RF sensing methods, referred to as Timing, Communications, andRanging (TCR) technology, and previously as Distance Measuring Radio,(DMR) use several patented measurement methods.

FIG. 1 illustrates a schematic diagram of the general context of theillustrative embodiments presented herein of a position and orientationtracking system 100 that tracks a three-coordinate position andthree-axis angular orientation or attitude of a first RF device 110 withrespect to and from a second RF device 120. In one illustrativeembodiment, the first RF device 110 may be referred to as a hand-heldTCR Controller device 110 that is tracked with respect to the second RFdevice 120 that may be referred to as an instrumented TCR HMD device120.

The illustrative embodiments presented herein build upon TCR datapre-processing, most notably the unwrapping of carrier phase raw dataobservables, (Carrier Phase Range (CPR), and Carrier Phase Difference(CPD), as discussed more in detail below). Some illustrative embodimentspresented herein also provide sensor fusion algorithms that process theraw data observables and further process the output of the sensor fusionalgorithms with an Extended Kalman Filter (EKF) to finally produce afused data product from the TCR and an aiding Inertial Measurement Unit(IMU) sensor. The illustrative embodiments presented herein providepost-processed six-degrees of freedom results but may also be designedto be causal and support real-time processing.

For example, with respect to FIG. 1 , tracking six-degrees of freedom ofthe TCR Controller device 110 from the TCR HMD device 120 in 3-Dcoordinate space includes determining: 1) a ΔX, ΔY and ΔZ position (ΔX,ΔY, ΔZ) of the TCR Controller device 110 from a position, e.g., (0,0,0)of the TCR HMD device 120; and 2) an angular orientation ∠ΔX, ∠ΔY and∠ΔZ, that is, the angular difference between the coordinate frame of theTCR Controller device 110 (X2, Y2, Z2) and the TCR HMD device 120 (X1,Y1, Z1), e.g., (X2-X1)), (Y2-Y1) and (Z2-Z1).

The illustrative embodiments presented herein are envisioned to be anideal sensor and signal processing solution for “Inside Out”-type VR/ARtracking. “Inside Out” tracking positions a controller(s), andpotentially other real objects, relative to the TCR HMD device 120.“Inside-out” tracking is a method of positional tracking commonly usedin virtual reality (VR) technologies, specifically for tracking theposition of head-mounted displays (HMDs) and motion controlleraccessories. It differentiates itself from “outside-in” tracking by thelocation of the cameras or other sensors that are used to determine theobject's position in space. In “inside-out” positional tracking, thecamera or sensors are located on the device being tracked (e.g. HMD)while in “outside-in” the sensors are placed in a stationary location.At present, most commercially available systems, such as the ValveLighthouse™, use “outside-in” tracking, where a HMD device andcontroller device are positioned relative to some fixed infrastructuresensors (not shown).

The illustrative embodiments presented herein currently achieves betterthan 1.0 cm positioning accuracy and precision, and better thanone-degree angular orientation accuracy and precision for typical usecases. Key technical challenges for real-world use of the illustrativeembodiments presented herein are robustness to radio frequency (RF)occlusion, multipath, and interference for the TCR measurement system.The illustrative embodiments presented herein may be capable ofoperation in typical office/home environments, however, additionalsignal processing, sensor pre-filtering, and sensor aiding are discussedherein that may further improve the technology performance, robustnessand broaden applicability.

I. System Design

The six-degrees of freedom tracking illustrative embodiments presentedherein are designed to solve close range six-degrees of freedom trackingbetween RF radio devices via a flexible system architecture. Systemarchitecture configurations may include: 1) using one or more transmit(Tx) channels per TCR device, (e.g., TCR HMD device 120 and at least oneController device(s) 100; 2) using two or more receive (Rx) channels onthe TCR HMD device 120 to constrain or over-constrain a two-dimension(2-D) or 3-D position of the TCR Controller device 110 with CPDmeasurements; and/or 3) using one or more Rx channels on the TCRController device 110.

FIG. 2 illustrates a logical element schematic 200 of TCR Controllerdevice 110 comprising a plurality of physical sensors 210 that collectraw data observables and include a first Rx/Tx antenna 212, a second Rxantenna 214, an nth numbered Rx antenna 216, an IMU device 218 and a GPSdevice 220. Reference number 230 illustrates a logical elementrepresents sensor fusion algorithms that processes raw data observablesto create fused data output 240.

FIG. 3 illustrates a logical element schematic 300 of TCR HMD device 120comprising a plurality of physical sensors 310 that collect raw dataobservables and include a first Tx/Rx antenna 312, a second Rx antenna314, a third Rx antenna 316, a fourth Rx antenna 318, an IMU device 320and a GPS device 322. Reference number 330 illustrates a logical elementrepresents sensor fusion algorithms that processes raw data observablesto create fused data output 340.

A single Tx/Rx channel, (e.g., a transceiver channel), aids inconstraining the TCR Controller device 110 position via a BasebandRange, CPR, carrier phase velocity (CPV), and TDR measurements,described in more detail below. Two or more Rx channels on the TCRController device 110 aids in constraining the TCR Controller device 110heading in addition to its position relative to the TCR HMD device 120by using CPD measurements in addition to the single Tx/Rx measurements.

Using an IMU on the TCR Controller device 110 or optionally using an IMUon the TCR HMD device 120 improves position and orientation/attitudetracking through aiding the fusion filter and TCR carrier phasemeasurement unwrap.

Performance drivers of illustrative embodiments presented herein are TCRsensor measurement accuracy, successful unwrap of carrier phasemeasurements (CPR, CPD), and accurate time synchronization of IMU andTCR data. Generally, TCR data is of good quality in normal RFenvironmental conditions. However, in poor RF environmental conditions,the individual TCR measurements can become degraded. The biggestchallenge to performance for the illustrative embodiments presentedherein is the failure to properly unwrap CPR and/or CPD measurements dueto degraded TCR measurement quality. TCR measurement unwrap errors candegrade system performance by introducing correlated errors into theEKF. Some of the complexity of the signal processing presented below isused for identifying and correcting unwrap issues in CPR and/or CPD.

I.A. Sensor and Hardware Design Parameters I.A.1. Controller DeviceSensors

FIG. 4 illustrates a schematic diagram 400 of one illustrativeembodiment of sensor hardware on the TCR Controller device 110. The TCRController device 110 may include a pair of antennae having a firstTx/Rx antenna 402, and a second Rx antenna 404. A single Tx/Rx channel,(e.g., the first antenna 402 ), may also be used without significantimpact to the system positioning performance. Additional Rx channels andantennae may be used to improve system performance. The antennae alsomay be spaced apart from each other by an antennae baseline distance 406of sufficient length to determine the TCR CPD measurement as describedbelow. For example, in one illustrative embodiment, the antennaebaseline distance 406 may be approximately 5 cm for a hand-held TCRController device 110. The antennae baseline distance 406 may bemodified accordingly based on the size of the TCR Controller device 110and the desired accuracy of the six-degrees of freedom measurements withrespect to the TCR HMD device 120. Furthermore, the antennae baselinedistance 406 may be tied to a range between 0.1 to 100 times of a radiofrequency wavelength used in RF communication between the TCR devices.

The TCR Controller device 110 may also include an IMU 420 andmagnetometer 430 for providing raw data observables to determineorientation/attitude with respect to the TCR HMD device 120 as describedbelow.

I.A.2. HMD Device Sensors

FIG. 5 illustrates a schematic diagram 500 of one illustrativeembodiment of sensor hardware on the TCR HMD device 120. The TCR HMDdevice 120 may include four antennae: a first Tx/Rx antenna 502, and asecond Rx antenna 504, a third Rx antenna 506 and a fourth antenna 508.Additional Rx channels and antennae may be used to improve systemperformance. Generally, one antenna, the “primary”, may be a Tx/Rxchannel. All other channels may be Rx only. The illustrated fourantennas may be used to over-constrain the 3-D position of theController(s) device 100 in the current system. Fewer antennas may beused if additional aiding sensors are available, or only if 2-D trackingis desired. More than four antennas on the TCR HMD device 120 may alsobe utilized to improve the accuracy or robustness of the system.

The antennae also may be spaced apart from each other by antennaebaseline distances of sufficient length to determine the TCR CPDmeasurement as described below. For example, in one illustrativeembodiment, a first antennae baseline distance 510, (measured betweenfirst Tx/Rx antenna 502 and third Rx antenna 506 pair, and betweensecond Rx antenna 504 and fourth Rx antenna 508 pair), may beapproximately 5 cm for the TCR HMD device 120. A second antennaebaseline distance 512 (measured between first Tx/Rx antenna 502 andsecond Rx antenna 504 pair, and between third Rx antenna 506 and fourthRx antenna 508 pair), may be approximately 10 cm for the TCR HMD device120. A third antennae baseline distance 514 (measured between firstTx/Rx antenna 502 and fourth Rx antenna 508 pair, and between second Rxantenna 504 and third Rx antenna 506 pair), may be approximately 11 cmfor the TCR HMD device 120. These antennae baseline distances 510, 512and 514 may be modified accordingly based on the size of the TCR HMDdevice 120 and the desired accuracy of the six-degrees of freedommeasurements with respect to the TCR Controller device 110 andapplications for which the system is intended. Furthermore, the antennaebaseline distances 510, 512 and 514 may be tied to a range between 0.1to 100 times of a radio frequency wavelength used in RF communicationbetween the TCR devices.

The current TCR HMD device 120 hardware may include four antennae withknown characteristics in a fixed, known geometric configuration. Thephysical relationship, particularly the baseline distances between allantennae pairs must be well known for proper utilization of TCR CPDmeasurements. For example, given the above described first 510, second512 and third 514 antennae baseline distances, CPD calculations may bemade for each of the antenna pairs illustrated in FIG. 5 based on theseantennae baseline distances. For example, a first logical CPD 520 may becalculated based on RF signals received between first Tx/Rx antenna 502and second Rx antenna 504 pair having the second antennae baselinedistance 512. A second logical CPD 522 may be calculated based on RFsignals received between second Rx antenna 504 and fourth Rx antenna 508pair having the first antennae baseline distance 510. A third logicalCPD 524 may be calculated based on RF signals received between third Rxantenna 506 and fourth Rx antenna 508 pair having the second antennaebaseline distance 512. A fourth logical CPD 526 may be calculated basedon RF signals received between first Rx antenna 502 and third Rx antenna506 pair having the first antennae baseline distance 510. A fifthlogical CPD 528 may be calculated based on RF signals received betweenfirst Rx antenna 502 and fourth Rx antenna 508 pair having the thirdantennae baseline distance 514 And a sixth logical CPD 530 may becalculated based on RF signals received between second Rx antenna 504and third Rx antenna 506 pair having the third antennae baselinedistance 514.

The TCR HMD device 120 may also include an IMU 540 and magnetometer 550similar to the TCR Controller device 110 for providing raw dataobservables to determine orientation/attitude with respect to anotherexternal TCR device as further described below.

I.A.3. Antennae Characteristics for both the HMD and Controller

Although the antenna illustrative embodiments presented herein may workwith any antenna or antenna system designs to enable the core TCR sensormeasurements, particular antenna designs may impact the accuracy of themeasurements and the ability to cleanly unwrap the carrier phasemeasurement data. An effort was made to optimize the antennaeconfiguration resulting in two different antenna systems. Both antennasystem designs featured a wide field-of-view and were well-matched tothe TCR RF transmission frequency. The field of view was optimized tomaintain a high signal-to-noise over as wide a range of TCR Controllerdevice 110 positions as possible, and the antenna element load impedancewas matched to the source and transmission line impedance of the RFcircuitry of the TCR device.

I.A.3.i. Separation of Antennae

When properly unwrapped and bias corrected, CPD can be used to calculatethe angle between a first line A defined between a transmitting antenna610 and first receiving antenna 620 pair, and a second line B definedbetween the same transmitting antenna 610 and a second receiving antenna630 pair, (e.g., given Tx antenna 610 of TCR device 110, and Rx antennae620 and 630 of the TCR device 120), using simple geometry as shown theschematic antennae diagram 600 of FIG. 6 and the below equation.

Measured Variables:

Carrier Phase Difference (CPD)=[φ(B)−φ(A)]

(wherein φ is the carrier phase)

B=unwrapped Carrier Phase Range (CPR)

Constants:

Baseline A-B (between the phase centers of the two antennas performingthe CPD measurement, i.e., antenna 620 and antenna 630)

Calculated Variables:

${{{Carrier}{Phase}{Difference}({CPD}){Distance}{Difference}} = {{\lbrack {{\varphi(B)} - {\varphi(A)}} \rbrack\lbrack \frac{\lambda}{2\pi} \rbrack} = \lbrack {B - A} \rbrack}}( {{wherein}\lambda{is}{the}{carrier}{wavelength}} ){{{\theta( {A,B} )} = {\cos^{- 1}( {\frac{CPD}{{{baseline}A} - B} + \frac{{{baseline}A} - B}{2*B} - \frac{{CPD}^{2}}{{2*B*{baseline}A} - B}} )}},{or}}$${{{{{\theta( {A,B} )} \approx {\cos^{- 1}( \frac{CPD}{{{baseline}A} - B} )}},{{when}B}}}{baseline}A} - {B.}$

A second angular measurement may be made between the second line Bdefined between the transmitting antenna 610 and the second receivingantenna 630 pair, and a third line C defined between the sametransmitting antenna 610 and a third receiving antenna 640 pair, (e.g.,given Tx antenna 610 of TCR device 110, and Rx antennae 630 and 640 ofthe TCR device 120), further using simple geometry as shown in FIG. 6and the below equation.

Measured Variables:

Carrier Phase Difference (CPD)=[φ(B)−φ(C)]

B=unwrapped Carrier Phase Range (CPR)

Constants:

Baseline B-C (between the phase centers of the two antennas performingthe CPD measurement, i.e., antenna 630 and antenna 640)

Calculated Variables:

${{{Carrier}{Phase}{Difference}({CPD}){Distance}{Difference}} = {{\lbrack {{\varphi(B)} - {\varphi(C)}} \rbrack\lbrack \frac{\lambda}{2\pi} \rbrack} = \lbrack {B - C} \rbrack}}{{{\theta( {B,C} )} = {\cos^{- 1}( {\frac{CPD}{{{baseline}B} - C} + \frac{{{baseline}B} - C}{2*B} - \frac{{CPD}^{2}}{{2*B*{baseline}B} - C}} )}},{or}}$${{{{{\theta( {B,C} )} \approx {\cos^{- 1}( \frac{CPD}{{{baseline}B} - C} )}},{{when}B}}}{baseline}B} - {C.}$

The primary design variable that drives the accuracy of the computedangle, (e.g., θ(A,B) and θ(B,C) is the “baseline” distance between thephase centers of the two antennas performing the CPD measurement. As thebaseline increases, the accuracy of the angle increases. The TCR HMDdevice 120 angle(s) estimated from this calculation can be used to solvefor the TCR Controller device 110 position by estimating theintersection of multiple bearings in different coordinate planes (XY, YZand XZ) of the TCR HMD device 120. Alternatively, the direct measurementof CPD can also be consumed as an aiding measurement as part of thelarger position and orientation tracking filter.

I.A.3.ii. Number of Antennae

With a minimum of three antennae on the TCR HMD device 120, enoughinformation is available to estimate the 3-D position of the TCRController device 110 with respect to the TCR HMD device 120. By usingfour or more antennas, an overdetermined solution may be determined toestimate the 3-D position of the Controller device 120. The extrainformation resulting from the additional antenna(s) is desirable duringan initialization procedure when a simultaneous estimate of the initial3-D position and the initial integer ambiguity in CPR is needed. Also,the extra CPD measurement from an additional (fourth) antenna may beused for evaluating the internal consistency of the determined 3-Dposition based on the other remaining (three) antennas, which may assistin filtering out any “bad” CPD measurements.

The illustrative embodiments presented herein may utilize additionalantennae on the Controller device(s) 110 to constrain TCR Controllerdevice 110 angular orientation and position relative to the TCR HMDdevice 120. The illustrative embodiment presented herein illustrates twoantennas on the TCR Controller device 110, (resulting in one CPDcalculation between each pair of antennae), primarily to aid in TCRController device 110 angular orientation/attitude estimation. Addingadditional antennae may improve position and angular orientationaccuracy and computational robustness by further constraining thosesolutions, as well as offering improved antenna geometric dilution ofprecision (GDOP).

I.A.3.iii. Configuration of Antennae (Baseline)

Practically, it is desirable to maximize the distance, or baseline,between antennae on the TCR HMD device 120 to achieve higher accuracyangle estimates and to have at least four antennae for the reasonsdescribed above. To maximize the angle accuracy, the four antennas wereplaced on the four corners of the top XY plane of the TCR HMD device 120as illustrated in FIG. 5 .

Similarly, the two antennae on the TCR Controller device 110 are placedat a largest baseline separation distance on the top XY plane given theTCR Controller device 110 size as illustrated in FIG. 4 .

For applications that require high accuracy and longer distances betweenthe TCR HMD device 120 and TCR Controller device 110, larger baselinesdistances would enable this. Baseline choice must also be balancedagainst the need to unwrap CPD measurements—larger baselines mean morepossible integer ambiguities for a given CPD measurement, and a smallerangular resolution between CPD integers.

I.B. TCR Measurements

The TCR measurements made on the TCR HMD device 120 and TCR Controllerdevice 110 are made via one-way and two-way RF transactions betweencorresponding “TCR devices”. For example, in FIG. 1 an TCR Originator100 broadcasts a preamble and data payload 130 which a TCR Transponder110 observes, receives, and processes. The TCR Transponder 110 thenresponds with its own preamble and data payload 140 containing dataproducts from its observations on the original transmission from the TCROriginator 100 and other data products. The TCR Originator 100 observesand receives TCR Transponder 110 transmission 140, makes its own dataproducts from its observations, and reports the following measurements:

Baseband Range—A baseband code phase measurement of round-trip RFtime-of-flight (TOF), which represents the relative distance betweentransacting TCR devices;

Carrier Phase Range (CPR)—A carrier phase measurement of the relativedistance between transacting TCR devices;

Carrier Phase Velocity (CPV)—A carrier phase measurement of Dopplervelocity, which represents the relative speed between transacting TCRdevices;

Carrier Phase Difference (CPD)—A carrier phase measurement of theinterferometric Phase Difference of Arrival (PDoA) of a signal receivedon multiple coherent receive channels of a TCR device. This phasedifference can be further expressed as a Time Difference of Arrival(TDoA) or a distance difference;

Transactional Difference Range (TDR)—A baseband code phase measurementof time difference of arrival as received on a passive observer TCR,where the observing TCR builds a TDR measurement from receiving andprocessing the Originator and Transponder transmissions of transactingTCRs; and

Wireless clock frequency, clock phase, and timesynchronization—Fundamental TCR observables are used to measure andcorrect for frequency and phase offsets of remote clocks to achieve asynchronized network time and/or clock frequency and/or phase acrosstransacting TCRs.

The illustrative embodiments presented herein utilizes the TCRmeasurements, most notably CPD, CPR, CPV, and wireless synchronization,in conjunction with a cell phone class, commercial inertial measurementunit (IMU) (e.g., the Bosch® Sensortec™ BMI160), also typicallyincluding an accelerometer to detect linear motion and gravitationforces, and a gyroscope that measures the rate of rotation in 3-D space,i.e., roll, pitch and yaw.

I.B.1. Carrier Phase Difference (CPD)

CPD is the backbone of the TCR data processing of the illustrativeembodiments presented herein. Regarding the TCR HMD device 120 asillustrated in FIG. 5 , six CPDs, (CPD1 520, CPD2 522, CPD3 524, CPD4526, CPD5 528, and CPD6 530), logically placed between the receivingantenna signal path of each pair of antennae on the TCR HMD device 120over constrain the 3-D position of the TCR Controller device 110 and areprimarily responsible for the accuracy and robustness of the positionand orientation determine system 100 positioning performance.

Regarding the TCR Controller device 110, as illustrated in FIG. 4 , asingle CPD, (CPD1 410), is logically placed between the receivingantenna signal path of the pair of antennae on the TCR Controller device110 to constrain the attitude of the TCR Controller device 110, mostnotably the yaw. This is especially valuable since the yaw axis (Z-axis)is not constrained by the gravity vector when the TCR Controller device110 is held in a neutral position (i.e., when the TCR Controller device110 antennae (e.g., ANT1 402 and ANT2 404), and IMU 420 are in an upwardfacing direction).

CPD is a carrier phase measurement of distance difference with aninteger ambiguity. CPD unwrap challenges occur relatively frequently inchallenging environments but can be identified and corrected using theother TCR/IMU observations. Properly initializing and tracking CPDinteger ambiguities is relevant to using CPD data in the six-degrees offreedom sensor fusion. CPD integer ambiguity estimation and tracking issimplified somewhat by the significant position jump an incorrectambiguity implies. For example, if two possible integer ambiguitieswould computationally place the TCR Controller device 110 either to theleft at 45° or the right at 45° of the TCR HMD device 120, a previousposition of the Controller device's 110 position should enable properinteger ambiguity resolution by eliminating the least probably positionoption.

When properly unwrapped and bias corrected, CPD can be used to calculatethe angle, by the above defined equations, between the line defined bythe receiving antennae and the line defined by the receiving antenna andone of the transmitting antennae using simple geometry as defined above.

FIG. 7 illustrates example CPD data with both a Distance Difference 700and a Mobile Antennae Relative Angle 710. The TCR HMD device 120angle(s) estimated from the above-identified CPD calculation can be usedto solve for the TCR Controller device 110 position by estimating theintersection of multiple bearings in different planes (i.e., XY, YZ andXZ planes). The estimated angle(s) or the direct measurement of CPD canalso be consumed as part of the larger position and attitude trackingfilter.

I.B.2. Carrier Phase Range (CPR)

CPR constrains the distance between the TCR HMD device 120 and TCRController device 110 to better than millimeter accuracy and precisionbased on the measure of the range between a transmitter and receiverexpressed in units of cycles of the carrier frequency. See carrierfrequency illustration 800 in FIG. 8 . This CPR measurement can be madewith very high precision (of the order of millimeters), but the wholenumber of cycles between transmitter and receiver is typically notmeasurable. CPR allows for the measurement of the range betweencorresponding TCR devices very precisely with an ambiguity in the numberof whole carrier cycles.

CPR integer ambiguity can be initialized and tracked via one or more ofthe following methods: 1) known or externally measured initial positionsor distance between TCR HMD device 120 and TCR Controller device 110; 2)estimation of relative position of TCR Controller device 110 relative toTCR HMD device 120 using CPD measurements; and 3) estimation of relativedistance for TCR Controller device 110 relative to TCR HMD device 120using Baseband Ranging. The illustrative embodiments disclosed hereintypically use approach 2). Approach 3) has also been used forapplications where the distance between TCR Controller device 110 andTCR HMD device 120 is larger.

Once the initial ambiguity is known, raw CPR measurements are“unwrapped” using some combination of: 1) CPV—directly measured estimateof change in CPR since last measurement; 2) ΔCPR—first difference oflast two unwrapped CPR samples, or some windowed and/or smoothedestimate of average change in recent CPR; 3) inertially or filter outputderived expected CPR; and 4) expected CPR from CPD derived positioning.

The integer ambiguity initialization methods can also be used throughoutthe operation to check the validity of the current CPR integer ambiguityestimate, flag bad data, and potentially correct or re-initialize theCPR integer estimate.

I.B.3. Carrier Phase Velocity (CPV)

CPV is primarily used to aid in CPR unwrap, since the current CPVobservation can provide an independent measurement of the expected CPR,assuming sufficiently fast sampling. CPV can also be used directly inthe EKF to aid in CPR unwrapping errors but may be of limited value ifCPR is available and being unwrapped properly.

I.B.4. Transactional Difference Range (TDR)

TDR measurements may be leveraged as an additional aid for measuringillustrative embodiments utilizing multiple Controller devices 120 ormultiple user setups comprising multiple TCR HMD device 120 and TCRController device 110 pairings.

I.B.5. Time, Frequency, and Phase Synchronization

The TCR time sync capability may be used to synchronize the time scalesof the TCR HMD device 120 and Controller device(s) 110 to eliminate timesync errors that would drive position/orientation errors in a finalsystem. By synchronizing time wirelessly between corresponding TCRdevices to a nanosecond level, the tracking accuracy of the system maybe improved.

I.B.6. Baseband Range

Baseband ranging can be used to help constrain CPR integer ambiguities.Baseband ranging may also be used as a positioning aide for alternativeapplications where the distance between TCR HMD device 120 and TCRController device 110 is 10 meters or greater.

I.C. Sensor Fusion

Generally, the illustrative embodiments described in herein may besuitable for estimating full six-degrees of freedom position andorientation/attitude estimation, or any subset of that six-degrees offreedom. At a minimum, to achieve six-degrees of freedom tracking, twothings must be estimated: 1) the position of the TCR Controller device110 relative to the TCR HMD device 120; and 2) the angular orientationof the TCR Controller device 110 relative to the coordinate frame (XY,YZ, XZ) of the TCR HMD device 120.

In order to relate the coordinate frame of the TCR Controller device 110and TCR HMD device 120, the HMD device's 120 orientation and positionmust be known, measured, estimated, or remain fixed relative to thelocal level frame. The relative position and angular orientation of theTCR Controller device 110 can be estimated separately or in a singlefusion method. The minimum set of measurements necessary to estimateboth is presented below, along with the relative benefits of additionalmeasurements or sensor fusion techniques.

I.C.1. Positioning

The 3-D position of the TCR Controller device 110 relative to the TCRHMD device 120 can be calculated directly from the distance betweenthem, and two of the three angles of the TCR HMD device 120 coordinateframe (i.e., planes XY, XZ and YZ). This is simply measuring theposition via distance and bearing from a known position. The TCRmeasurements of CPD from three antennae and CPR, unwrapped, can be usedto calculate the distance and angles, (as described above). AdditionalCPD measurements and antennae can be used to over constrain and improvethe positioning solution. Additional TCR measurements, (e.g., BasebandRange, CPV, TDR), may optionally be used to further aid the positioningsolution.

The addition of inertial sensing on the TCR Controller device 110provides sensing of incremental rotations and accelerations that furtherimprove the robustness and accuracy of the TCR Controller device 110positioning estimate. Inertial navigation also provides holdoverperformance during periods of TCR measurement outage or degradation dueto occlusion or environmental effects. The TCR measurements and IMUheuristic updates constrain and improve estimation of changing inertialsensor errors, which improves the accuracy and utility of the inertialsensing.

I.C.2. Orientation

The IMU is the primary sensor for estimating the orientation of the TCRController device 110 in its coordinate frame. Much of the orientationestimation involves estimating the direction of the gravity vector,which constrains 2 of 3 axes. Orientation estimation is accomplishedthrough the fusion of all measurements that provide observability to TCRController device 110 orientation, which is primarily the IMU, positionestimate, and TCR Controller device 110 CPD. Magnetic heading on the TCRController device 110 could also be used as a further constraint.

I.C.3. Signal Processing

FIG. 9 illustrates a signal processing schematic diagram 900representing signal paths of raw data observable measurements 910 andtheir corresponding processing via sensor fusion algorithms 940 into afused data output 960. Software for sensor fusion for the illustrativeembodiments described herein may occur on an embedded processor, digitalsignal processor (DSP), field programmable gate array (FPGA), orapplication-specific integrated circuit (ASIC) that is present on theTCR Controller device 110, TCR HMD device 120, and/or an external hostPC or computing device. Fusion algorithms currently implemented utilizesignificant data prefiltering with an EKF, but numerous other optionsexist for data fusion. The fusion algorithms and associatedpreprocessing are represented in the dashed box entitled sensor fusionalgorithms 940.

The core processing consists of integrating raw data observablemeasurements and heuristic measurements derived from data supplied bythe IMU 912 in an EKF 950 to estimate and correct errors in theposition, velocity, attitude and sensor errors of the IMU 912 based onconventional inertial navigation. Specifically, EKF 940 state errorsconsist of three position errors, three velocity errors, three attitudeerrors, three accelerometer bias errors and three gyro bias errors, eachbeing associated with X, Y and Z axes, respectively.

I.C.3.i. Raw Data Sensor Observable Measurements

Raw data sensor observable measurements 910 at either the TCR Controllerdevice 110 and/or the TCR HMD device 120 may be taken from threesources: an IMU 912, TCR antenna(e) providing CPR and CPD measurements914, and TCR antenna(e) providing CPV measurements 924.

The IMU 912 provides IMU data 912.1 to initialization algorithm 942 andthe same IMU data 912.2 to heuristics pre-filter algorithm 946.

CPR or Baseband Range, HMD CPD & Controller CPD 914 logic elementobtains CPR and CPD observable data from antenna signals on the TCRController device 110 and/or TCR HMD device 120. Particularly, CPDobservable data is collected from discrete CPD antenna pairs 916, forexample, represented by a first antenna 918 and a second correspondingantenna 920 of a CPD antenna pair 916. Antennae baseline distance 922between each corresponding antennae pair 918, 920 is also collected tobe used to calculate the CPD observable data. CPR/CPD data 924.1 may besent to initialization algorithm 942 of position andorientation/attitude and the same CPR/CPD data 914.2 may be sent to theTCR pre-filter algorithm 948.

CPV observable data 924 may be collected from a CPV antenna pair 926defined by a first antenna 928 of CPV antenna pair 928 being on one ofthe TCR devices (e.g., a TCR Controller device 110), and a secondcorresponding antenna 930 of CPV antenna pair 930 being on the othercorresponding TCR device, (e.g., a TCR HMD device 120). CPV data 924.1may be sent directly to the EKF algorithm 950 of the sensor fusionalgorithms 940.

I.C.3.ii. Initialization

Initialization algorithm 942 of position and orientation/attitude, asstated above, receives the IMU output 912.1 of IMU 912 and the CPR/CPDoutput 914.1 of CPR, HMD device CPD and Controller device CPD 914.Initialization data 942.1 is subsequently output to the inertialnavigation algorithm 944.1 described in more detail below.

There are 23 parameters that may be processed by the initializationalgorithm 942: nine parameters describing the position, velocity andattitude of the IMU in the TCR Controller device 110; six IMU sensorbiases; seven CPD integer ambiguities; and one CPR integer ambiguity.The TCR Controller device 110 is initially stationary, so the velocityparameters may be set to zero. The roll and pitch attitude componentsare initialized based solely on conventional coarse alignment using theIMU data 912.1 to sense the direction of gravity, and the accelerometerbiases are initialized based on the residual in the projectedaccelerometer measurements onto the known local gravity vector. Theinitial gyro biases are set to zero. This leaves twelve parameters to beinitialized. As stated above, estimation of the CPD integer ambiguitiesis simplified by the significant position jump an incorrect ambiguityimplies. The initial position is estimated based on minimizing the errorin an iterative fit of the six TCR HMD device 120 CPD measurements andtheir possible integer ambiguities. Given this best position estimate,the CPR integer ambiguity is then estimated based on the expected CPRmeasurements for that best position estimate. Finally, the IMU headingis initialized based on the initial position and feasible TCR Controllerdevice 110 CPD integer ambiguities during the first few measurementsduring motion.

I.C.3.iii. Inertial Navigation and Heuristic Pre-filters

Additional measurements to the EKF 950 are available based on thedetection of any periods when the IMU 912 comes to rest by the inertialnavigation pre-filter 944 where Zero Velocity Updates (ZUPTs) and FrozenAzimuth Updates (FRAZs) are detected based on empirically derivedvariance thresholds in the raw IMU data 912.1.

ZUPTs constrain the velocity to zero during periods when the IMU 912 isstationary. This update directly constrains the velocity errors but alsoconstrains position errors, some components of the IMU bias errors andthe roll and pitch misalignment errors relative to gravity through theassociated state covariances. FRAZs constrain the change in the yaw ofthe IMU 912 to zero, which allows estimation and removal of thecomponent of the gyro bias projected along the yaw-axis duringstationary periods. Inertial navigation data 944.1 may be sent to theEKF 950 for further filtering based on CPV data 924.1.

Heuristics pre-filter algorithm 946 receives IMU data 912.2 from the IMU912 and outputs heuristics pre-filter data 946.1 to the EKF 950.

I.C.3.iv. TCR Pre-filters

The TCR pre-filter algorithms 948 reject bad TCR data and providetracking of CPR integer ambiguities and CPD integer ambiguities byutilizing algorithms similar to the initialization algorithms 942processing.

CPD integer ambiguities are unwrapped using a raw measurementproject/correct style filter, with outlier checking from the inertiallyderived position projection. Valid and robust unwrap of CPD is integralto system stability and performance. CPR integer ambiguities areunwrapped using a raw measurement project/correct style filter, with theprojection being a combination of inertially derived projection anddirectly measured CPV. Outlier checking for the inertial and/or CPDderived position projection is also used. Valid and robust CPR unwrap isalso important to system stability and performance.

TCR pre-filter data 948.1 is subsequently sent to the EKF 950 forfurther filtering based on CPV data 924.1.

I.C.3.v. Fusion EKF-Type Filter

As disclosed above, the specific TCR measurements are consumed directlyby the fusion EKF filter 950. However, an alternate illustrativeembodiment may fuse TCR observations into Distance and Angle-of-Arrivalmeasurements, and fuse those estimates analytically or with a verysimple filter for the TCR Controller device 110 position. Differentsensor fusion algorithms could be applied to the same or similar sensordata. Further, an alternative RF illustrative embodiment or differentsensor modality may replace some or all the TCR observations for asimilar system and sensor fusion approach.

The use of a magnetometer in conjunction with the IMU 912 on the TCRController device 110 to constrain heading and position for headingestimation and potentially as a positioning aide may additionally aid inthe sensor fusion. Furthermore, a similar sensor and fusion approach maybe used for “Outside In” tracking with positioning infrastructure.

I.C.3.vi. Fused Data Output

EKF filter algorithm 950 outputs EKF filtered data 950.1 to provide afused data output 960 comprising six-degrees of freedom position andorientation output 962. The fused data product is a causal position andattitude estimate that is capable of being computed in real-time or witha small, fixed lag from real-time.

Additional extensions possible from this approach include: 1) usingknown, measured, or tracked position and orientation of the TCR HMDdevice 120 in some other coordinate frame, such as Global PositioningSystem (GPS), to translate the TCR Controller device 110 and/or TCR HMDdevice 120 position into the GPS coordinate frame or a related frame; 2)extending tracking to additional Controller devices 110 or other trackeditems, and 3) if hard real-time is not required, utilization of awindowed or full dataset smoothing algorithm to improve post processedresults.

Alternative illustrative embodiments may provide using theabove-identified inertial sensing and fusion filtering to also estimatean TCR HMD device 120 position/attitude in a local or global coordinateframe, as described below, in conjunction with the fused data output ofthe TCR Controller device 110.

II. System Operation II.A. TCR Originator to TCR Transponder

FIGS. 10 and 11 illustrate a communication sequence betweencorresponding TCR devices of the position and orientation determiningsystem 100 as shown from FIG. 1 to FIG. 9 .

FIG. 10 illustrates a first illustrative embodiment of a communicationsequence originated by a TCR Originator device 1000, e.g., TCR HMDdevice 120, and a TCR Transponder device 1060, e.g., TCR Controllerdevice 110. First, the TCR Originator device 1000 activates atransmitter antenna, e.g., ANT 1 TX/RX 1012, to transmit a preamble anda data payload via a carrier frequency at operation 1012.1 to the TCRTransponder 1060 for reception by any receiving antennae thereon, e.g.,ANT 1 TX/RX 1072, and ANT 2 RX 1074.

Upon receiving the preamble and data payload from the TCR Originator1000, the TCR Transponder 1060 forwards the antennae received preambleand data payload to the raw data observable measurements unit 1080 forcalculation of CPR, CPD and CPV observable measurements in addition toIMU and/or magnetometer 1076 data, and GPS 1078 data. These data arethen processed by the sensor fusion algorithms 1082, to produce basebandranging data including master clock number counts, clock dynamicmeasurements and time-of-flight data, CPR data, CPV data, CPD data andorientation data based on the IMU/MAG device 1076. The data afterpassing through the EKF (e.g., EKF 950 in FIG. 9 ) is then output asfused data output 1084.

II.B. TCR Transponder to TCR Originator

FIG. 11 illustrates a second illustrative embodiment of a communicationsequence where a TCR Transponder device 1060 responds to thecommunication received from the TCR Originator device 1000 of FIG. 10 .The fused data output 1084 previously output by the sensor fusionalgorithms 1082 is sent as a data payload with a TCR Transponderspecific preamble to the transmitter antenna of the TCR Transponder,e.g., ANT 1 TX/RX 1072. The transmitting antenna transmits the TCRTransponder 1060 preamble and data payload 1072.1 to any receivingantennae of the TCR Originator device 1000, e.g., in this illustration,ANT1 to ANT4, designated by reference numbers 1012, 1014, 1016 and 1018.

The received signals at each of the respective antennae are forwarded tothe raw data sensor observable measurements 1030 processor to calculateCPR, CPD and CPV solutions, in addition to IMU and/or magnetometer 1020data, and/or GPS 1022 data. These data are then processed by the sensorfusion algorithms 1032, as described above with respect to FIG. 9 , toproduce baseband range measurements, CPR data and integer ambiguities,and CPD distance measurements, that, after processing by the EKF 950 ofFIG. 9 , is then output as fused data output 1034.

In a first illustrative embodiment, the fused data output 1034 atoperation 1034.1 may be output to a display driver 1040 integral withthe TCR Originator device 1000 to process graphic display informationfor presentation to a graphic display 1050 integrated with or for use inconjunction with the TCR Originator device 1000. The graphic display1050 may be configured for a dual-eye head mounted micro-display device.

In a second alternative illustrative embodiment, the fused data output1034 at operation 1034.2 may be output to a remote AR/VR systemprocessor 1090 that may further process the fused data output 1034 andat operation 1090.1 and return data to the display driver 1040 of theTCR Originator device 1000 for presentation to the graphic display 1050.This illustrative embodiment may provide greater processing power to thefused data output 1034 than the TCR Originator device 1000 may be ableto provide before rendering the graphics in an AR/VR environment on thegraphic display 1050 of the TCR Originator device 1000.

II.C. HMD Device and Controller Device

FIG. 12 illustrates a schematic diagram of one illustrative embodimentof a position and orientation determining system 1200l comprising a TCRTransponder device 1210 and a TCR Originator device 1220, where aposition and orientation of the TCR Transponder device 1210 iscalculated relative to a reference frame of the TCR Originator device1220.

A TCR Transponder device 1210 comprises an antenna pair 1212 and IMUand/or magnetometer 1214 similar to the illustration in FIG. 4 . A TCROriginator device 1220 comprises an antenna array 1224 similar to theillustration in FIG. 5 and a graphical display 1226. TCR Originatordevice 1220 additionally includes a TCR Originator coordinate frame1222, having planes XY, YZ, and XZ to which the TCR Transponder device1210 is oriented against.

FIG. 13 further illustrates a logic flowchart describing a method ofdetermining a position and orientation of the TCR Transponder device1210 relative to the TCR Originator device 1220, where the methodcomprises providing 1300 a TCR radio frequency (RF) Transponder device1210 including a first constellation of antennae 1212 including at leasttwo receiving antennae and at least one transmitting antenna, a firstradio unit in communication with the first constellation of antennae1212.

The method further comprises 1302 providing a TCR RF Originator device1220 including a second constellation of antennae 1224 including atleast three receiving antennae and at least one transmitting antenna, asecond radio unit in communication with the second constellation ofantennae 1224, a processor in communication with the second radio unitand the second constellation of antennae 1224, and a graphical display1226.

The method further comprises determining 1304 a three-dimensionalposition and three-axis angular orientation of the TCR RF Transponderdevice 1210 relative to the TCR RF Originator device 1220 based oncalculating a carrier phase difference (CPD) measurement of phasedifference based on signals received from the TCR RF Originator device1220 between each discrete pair of receiving antennae of the at leastthree receiver antennae of the TCR RF device 1220.

The method further comprises rendering 1306 an image on the graphicaldisplay 1226 of the TCR RF Originator device 1220 in one a virtualreality or an augmented realty environment based on the determinedthree-dimensional position and three-axis angular orientation of the TCRRF Transponder device 1210 relative to the TCR RF Originator device1220.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1210 relative to the TCR RF Originatordevice 1220 based on unwrapped carrier phase range (CPR) samples.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1210 relative to the TCR RF Originatordevice 1220 device by determining at least two of three angles of theTCR RF Transponder device 1210 relative to a coordinate frame (XY, XZ,YZ) of the TCR RF Originator device 1220 based on determining CPDmeasurement of phase difference by subtracting: 1) a first carrier phaserange (CPR) determined distance between a transmitting antenna of theTCR RF Transponder device 1210 and a first receiving antenna of a pairof receiving antennae of the at least three receiver antennae of the TCRRF Originator device 1220, from 2) a second CPR determined distancebetween the transmitting antenna of the TCR RF Transponder device 1210and a second receiving antenna of the pair of receiving antennae of atleast three receiver antennae of the TCR RF Originator device 1220.

The method further includes where determining the three-dimensionalposition of the TCR RF Transponder device 1210 relative to the TCR RFOriginator device 1220 by determining at least two of three angles ofthe TCR RF Transponder device 1210 relative to the coordinate frame 1222of the TCR RF Originator device further comprises the method ofcalculating an angle of the TCR RF Transponder device 1210 relative tothe coordinate frame 1222 of the TCR RF Originator device by determininga quotient of the determined CPD over a baseline distance between thepair of receiving antennae of the TCR RF Originator device.

The method further comprises providing each antenna of the TCRTransponder device 1210 and TCR Originator device 1220 constellations ofantennae as circular polarized antennae.

The method further comprises providing the first constellation ofantennae 1212 as one of linear polarized antennae or circular polarizedantennae, and the second constellation of antennae 1224 as the other oneof linear polarized antennae or circular polarized antennae.

II.D. HMD, Controller and AR/VR Controller

FIG. 14 illustrates a schematic diagram of another illustrativeembodiment of a position and orientation determining system 1400comprising a TCR Originator device 1410, a TCR Transponder device 1420and an external TCR processing device 1430, where 1) a position andorientation of the TCR Transponder device 1420 is calculated relative toa reference frame of the TCR Originator device 1410, and 2) a positionand orientation of the TCR Originator device 1410 is further determinedrelative to a reference frame of the external TCR processing device1430.

A TCR Transponder 1410 comprises an antenna pair 1412 and IMU and/ormagnetometer 1414 similar to the illustration in FIG. 4 . A TCROriginator 1420 comprises an antenna array 1424 similar to theillustration in FIG. 5 , a graphical display 1426 and an IMU and/ormagnetometer 1428. TCR Originator 1420 additionally includes a TCROriginator coordinate frame 1422, having planes XY, YZ, and XZ to whichthe TCR Transponder 1410 is oriented against. A reference TCR 1430includes a reference TCR coordinate frame having axes Xref, Yref andZref, and a reference TCR antenna array 1434.

FIG. 15 and FIG. 16 further illustrate a logic flowchart describingmethod of determining a position and orientation of an object comprisingproviding 1500 a TCR radio frequency (RF) Originator device 1410including a first constellation of antennae 1412 including at least tworeceiving antennae and at least one transmitting antenna, a first radiounit in communication with the first constellation of antennae 1412.

The method further comprises providing 1502 a TCR RF Originator deviceincluding a second constellation of antennae 1424 including at leastthree receiving antennae and at least one transmitting antenna, a secondradio unit in communication with the second constellation of antennae1424, a processor in communication with the second radio unit and thesecond constellation of antennae 1424, and a graphical display 1426.

The method further comprises determining 1504 a first three-dimensionalposition and first three-axis angular orientation of the TCR RFTransponder device relative to the TCR RF Originator device 1420 basedon calculating a first carrier phase difference (CPD) measurement ofphase difference based on signals received from the TCR RF Transponderdevice 1410 between each discrete pair of receiving antennae of the atleast three receiver antennae of the TCR RF Origination 1420 device.

The method further comprises providing 1506 a reference TCR RF device1430 including a third constellation of antennae 1434 including at leastthree receiving antennae and at least one transmitting antenna, a thirdradio unit in communication with the third constellation of antennae, aprocessor in communication with the third radio unit and the thirdconstellation of antennae 1434.

The method further comprises determining 1508 a second three-dimensionalposition and second three-axis angular orientation of the TCR RFOrigination device 1420 relative to the reference TCR RF device 1430based on calculating a second CPD measurement of phase difference basedon signals received from the TCR RF Origination device 1420 between eachdiscrete pair of receiving antennae of the at least three receiverantennae of the reference TCR RF device 1430.

The method further comprises rendering 1510 an image on the graphicaldisplay 1426 of the TCR RF Origination device 1420 in one a virtualreality or an augmented realty environment based on the determined firstthree-dimensional position and first three-axis angular orientation ofthe TCR RF Transponder device 1410 relative to the TCR RF Originationdevice 1420, and the second determined three-dimensional position andsecond three-axis angular orientation of the TCR RF Origination device1420 relative to the reference TCR RF device 1430.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1410 relative to the TCR RF Originationdevice 1420 based on unwrapped carrier phase range (CPR) samples.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1410 relative to the TCR RF Originatordevice 1420 by determining at least two of three angles of the TCR RFTransponder device relative to a coordinate frame (XY, XZ, YZ) of theTCR RF Originator device 1420 based on determining CPD measurement ofphase difference by subtracting 1) a first carrier phase range (CPR)determined distance between a transmitting antenna of the TCR RFTransponder device and a first receiving antenna of a pair of receivingantennae of the at least three receiver antennae of the TCR RFOriginator device 1420, from 2) a second CPR determined distance betweenthe transmitting antenna of the TCR RF Transponder device 1410 and asecond receiving antenna of the pair of receiving antennae of at leastthree receiver antennae of the TCR RF Originator device 1420 .

The method of determining a position and orientation of an objectwherein determining the three-dimensional position of the TCR RFTransponder device relative to the TCR RF Originator device 1420 bydetermining at least two of three angles of the TCR RF Transponderdevice 1410 relative to the coordinate frame of the TCR RF Originatordevice 1420 further comprises calculating an angle of the TCR RFTransponder device 1410 relative to the coordinate frame of the TCR RFOriginator device 1420 by determining a quotient of the determined CPDover a baseline distance between the pair of receiving antennae of theTCR RF Originator device 1420 .

The method further comprises providing each antenna of the first 1412and second 1424 constellations of antennae as circular polarizedantennae.

The method further comprises providing the first constellation ofantennae 1412 as one of linear polarized antennae or circular polarizedantennae, and the second constellation of antennae 1424 as the other oneof linear polarized antennae or circular polarized antennae.

II.E. HMD, Controller and GPS Constellation

FIG. 17 illustrates a schematic diagram of another illustrativeembodiment of a position and orientation determining system 1700comprising a TCR Originator device 1710, a TCR Transponder device 1720and an external reference frame 1730, where 1) a position andorientation of the TCR Transponder device 1720 is calculated relative toa reference frame of the TCR Originator device 1710, and 2) a positionand orientation of the TCR Originator device 1710 is further determinedrelative to the external reference frame 1730.

A TCR Transponder 1710 comprises an antenna pair 1712 and IMU and/ormagnetometer 1714 similar to the illustration in FIG. 4 . A TCROriginator 1720 comprises an antenna array 1724 similar to theillustration in FIG. 5 , a graphical display 1726, an IMU and/ormagnetometer 1728 and a GPS receiver 1730. TCR Originator 1720additionally includes a TCR Originator coordinate frame 1722, havingplanes XY, YZ, and XZ to which the TCR Transponder 1710 is orientedagainst. The position and orientation determining system 1700additionally includes an external coordinate frame 1740 having axesXext, Yext and Zext against which the TCR Originator device 1720 ispositioned and oriented with respect to. The external coordinate frame1740 may include a Global Positioning System (GPS) coordinate referenceframe.

FIG. 18 and FIG. 19 further illustrate a logic flowchart describingmethod of determining a position and orientation of an object comprisingproviding 1800 a TCR radio frequency (RF) Transponder device 1710including a first constellation of antennae 1712 including at least tworeceiving antennae and at least one transmitting antenna, a first radiounit in communication with the first constellation of antennae 1712.

The method further comprises providing 1802 a TCR RF Originator device1720 including a second constellation of antennae 1724 including atleast three receiving antennae and at least one transmitting antenna, asecond radio unit in communication with the second constellation ofantennae 1724, a processor in communication with the second radio unitand the second constellation of antennae 1724, a graphical display 1726,a global positioning system (GPS) receiver 1730.

The method further comprises determining 1804 a first three-dimensionalposition and first three-axis angular orientation of the TCR RFTransponder device 1710 relative to the TCR RF Originator device 1720based on calculating a first carrier phase difference (CPD) measurementof phase difference based on signals received from the TCR RFTransponder device 1710 between each discrete pair of receiving antennaeof the at least three receiver antennae of the TCR RF Originator device1720.

The method further comprises determining 1806 a second three-dimensionalposition of the TCR RF Originator device 1720 relative to an externalcoordinate system based on receiving a signal at the GPS receiver.

The method further comprises determining 1808 a second three-axisangular orientation of the TCR RF Originator device 1720 based onreceiving a signal from the IMU 1714 of the TCR RF Originator device1720.

The method further comprises rendering 1810 an image on the graphicaldisplay 1826 of the TCR RF Originator device 1720 in one a virtualreality or an augmented realty environment based on the determined firstthree-dimensional position and first three-axis angular orientation ofthe TCR RF Transponder device 1710 relative to the TCR RF Originatordevice 1720, and the second determined three-dimensional position andsecond three-axis angular orientation of the TCR RF Originator device1720.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1710 relative to the TCR RF Originatordevice 1720 based on unwrapped carrier phase range (CPR) samples.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1710 relative to the TCR RF Originatordevice 1720 by determining at least two of three angles of the TCR RFTransponder device 1710 relative to a coordinate frame (XY, XZ, YZ) ofthe TCR RF Originator device 1720 based on determining CPD measurementof phase difference by subtracting 1) a first carrier phase range (CPR)determined distance between a transmitting antenna of the TCR RFTransponder device 1710 and a first receiving antenna of a pair ofreceiving antennae of the at least three receiver antennae of the TCR RFOriginator device 1720, from 2) a second CPR determined distance betweenthe transmitting antenna of the TCR RF Transponder device 1710 and asecond receiving antenna of the pair of receiving antennae of at leastthree receiver antennae of the TCR RF Originator device 1720.

The method of determining a position and orientation of an object wheredetermining the three-dimensional position of the TCR RF Transponderdevice 1710 relative to the TCR RF Originator device 1720 by determiningat least two of three angles of the TCR RF Transponder device 1710relative to the coordinate frame of the TCR RF Originator device 1720further comprises calculating an angle of the TCR RF Transponder device1710 relative to the coordinate frame 1722 of the TCR RF Originatordevice 1720 by determining a quotient of the determined CPD over abaseline distance between the pair of receiving antennae of the TCR RFOriginator device 1720.

The method further comprises providing each antenna of the first 1714and second 1724 constellations of antennae as circular polarizedantennae.

The method further comprises providing at least one but not all of thefirst 1714 or second 1724 constellations of antennae as linear polarizedantennae, and providing the remainder of the first 1714 or second 1724constellations of antennae as circular polarized antennae.

Regarding the routines presented in the methods illustrated in FIG. 13 ,FIGS. 15-16 , and FIGS. 18-19 , it should be appreciated that while theyare expressed with discrete steps, these steps should be viewed as beinglogical in nature and may or may not correspond to any actual, discretesteps. Moreover, while these routines are set forth in a particularorder in carrying out various functionality, the order that these stepsare presented should not be construed as the only order in which thevarious steps may be carried out in their respective routines. Further,those skilled in the art will appreciate that logical steps may becombined together or be comprised of multiple steps.

Still further, while novel aspects of the disclosed subject matter areexpressed in routines or methods, this functionality may also beembodied on computer-readable media. As those skilled in the art willappreciate, computer-readable media can host computer-executableinstructions for later retrieval and execution. When executed on acomputing device, the computer-executable instructions carry out varioussteps or methods. Examples of computer-readable media include, but arenot limited to: optical storage media such as digital video discs (DVDs)and compact discs (CDs); magnetic storage media including hard diskdrives, floppy disks, magnetic tape, and the like; memory storagedevices such as random access memory (RAM), read-only memory (ROM),memory cards, thumb drives, and the like; cloud storage (i.e., an onlinestorage service); and the like. For purposes of this document, however,computer-readable media expressly excludes carrier waves and propagatedsignals.

FIG. 20 is a block diagram illustrating an exemplary computer systemconfigured to determine a position and orientation of an object. Inparticular, in order to provide additional context for aspects of thedisclosed subject matter, FIG. 20 and the following description areintended to provide a brief, general description of a suitable computingsystem 2000 in which the various aspects may be implemented.

The computing system 2000 includes a processor (or processing unit) 2002and a memory 2004 interconnected by way of a system bus 2010. As thoseskilled in the art will appreciate, the processor executes instructionsretrieved from the memory 2004 in carrying out various functions and,particularly, determine a position and orientation of an RF Controllerdevice with respect to an RF Originator device. The processor may becomprised of any of various commercially available processors such assingle-processor, multi-processor, single-core units, and multi-coreunits. Moreover, those skilled in the art will appreciate that the novelaspects of the disclosed subject matter may be practiced with othercomputer system configurations, including but not limited to:mini-computers; mainframe computers, personal computers (e.g., desktopcomputers, laptop computers, tablet computers, etc.); handheld computingdevices such as smartphones, personal digital assistants, and the like;microprocessor-based or programmable consumer electronics; and the like.

The memory 2004 may be comprised of both volatile memory 2006 (e.g.,random access memory or RAM) and non-volatile memory 2008 (e.g., ROM,EPROM, EEPROM, etc.) Moreover, the memory 2004 may obtain data and/orexecutable instructions (especially within the volatile memory 2006)from the data storage subsystem 2018 by way of the system bus 2010.Moreover, a basic input/output system (BIOS) can be stored in thenon-volatile memory 2008 and conclude the basic routines that facilitatethe communication of data and signals between complements within thecomputing system 2000, such as during startup of the computing system.The volatile memory 2006 may also include a high-speed RAM such asstatic RAM for caching data.

The system bus 2010 provides an interface for system components to entercommunicate. The system bus 2010 can be of any of several types of busstructures that can interconnect the various components (both internaland external components). The computer system 2000 further includes anetwork communication subsystem 2012 for interconnecting with othercomputers and devices on a computer network. The network communicationsubsystem 2012 may be configured to communicate with an external networkvia a wired connection, a wireless connection, or both. The networkcommunication subsystem 2012 may additionally be configured tocommunicate with an IMU, a magnetometer, and/or a GPS receiver (notshown in FIG. 20 ).

Also included in the computer system 2000 is a display subsystem 2014.It is through the display subsystem 2014 that the computer systempresents a graphical display in an AR/VR environment. Further still, thecomputer system 2000 includes a user interface subsystem 2016 throughwhich the computer system obtains user input. The user interfacesubsystem 2016 provides the interface with various user interfacemechanisms including, but not limited to: voice input/output; visualrecognition systems; keyboards; touchpads; touch- or gesture-basedenabled surfaces (including display surfaces); pointing devices; and thelike. Indeed, while the display subsystem 2014 has been individuallycalled out as part of the computer system 2000, those skilled in the artwill appreciate that in many configurations the display subsystem 2014is part of the user interface subsystem 2016.

Additionally, a Radio Frequency (RF) transceiver unit 2030 mayadditionally be in communication with the system bus 2010 and/or networkcommunication subsystem 2012 to communicate and receiver information toand from the antenna array 2032.

The data storage subsystem 2018 provides an additional storage system inaddition to the memory 2004. Within the data storage subsystem 2018 canbe found the operating system 2020 for the computer system 2000,applications 2024 (which may include one or more applications that areconfigured to render a graphical image in a display device based on theposition and orientation of the TCR Transponder device); executablemodules 2022; as well as data 2026. Indeed, the determination of aposition and an orientation, is not limited to the instructionsnecessary to implement the functionality outlined in regard to routinesillustrated in FIGS. 13, 15-16 and 18-19 described above, and FIGS. 27,29-30 and 32-33 described below.

It should be appreciated, of course, that many of the components and/orsubsystems described as being part of the computer system 2000 should beviewed as logical components for carrying out various functions of asuitably configured computer system. As those skilled in the artappreciate, logical components (or subsystems) may or may not corresponddirectly in a 1:1 manner to actual components. Moreover, in an actualillustrative embodiment, these components may be combined together orbroke up across multiple actual components.

The illustrative embodiments presented herein to enable six-degrees offreedom tracking for AR/VR environments provide for the following keyfeatures: smooth and accurate tracking of the controller's position andattitude relative to another sensor system, e.g., the TCR HMD device120, and/or relative to the world and real objects in the immediateenvironment; low latency and real-time tracking; robustness of trackingperformance when line of sight between the TCR HMD device 120 andcontroller is obscured or blocked; and lower system and component costand complexity suitable for commercial applications.

By utilizing RF sensing, the above presented illustrative embodimentsimprove upon existing location determining systems by 1) reducingdependence on strict line of sight, as RF line of sight is moreforgiving than that required by camera, optical, and laser basedapproaches; 2) improving performance in different environments, ascamera, optical, and laser based approaches are sensitive to ambientlighting conditions and sunlight; 3) combining wireless datacommunications between Controller(s) and TCR HMD device 120 with sensormeasurements, thereby reducing the need for a separate datacommunication link; and 4) improves location and orientation tracking byproviding simpler, lower power sensor fusion resulting in betterperformance sensor observations rather than computational heavycamera/vision location determining systems.

In a second embodiment, illustrated in the following FIGS. 21-33 , threedegree-of-freedom positioning may be accomplished using a single antennain the TCR Controller device 110′ rather than a pair of antennae in theTCR Controller device 110 as described in FIGS. 1-19 . In the followingdescription, similar reference numbers will be used in the descriptionof the second embodiment to identical elements described in the firstembodiment for consistency.

Generally, the second embodiment is suitable for estimating full 3-DOFposition estimation of a second embodiment TCR Controller 110′ relativeto the TCR HMD 120 given a single RX/TX antenna on the TCR Controller110′. To relate the coordinate frames of the TCR Controller 110′ and TCRHMD 120, the position of the TCR HMD 120 must be known, measured,estimated, or remain fixed relative to a given local coordinate frame.For example, a single TCR Controller antenna is measured by a pluralityof pairs of antennae on the TCR HMD 120 to obtain CPD measurementsbetween discrete antenna pairs as previously disclosed above in thefirst embodiment illustrated in FIGS. 1-19 .

The three-dimensional (3D) position of the TCR Controller 110′ relativeto the TCR HMD 120 may be calculated by two methods:

1) Triangulation: a 3D-position of the TCR Controller 110′ may becomputed by simply calculating the intersection of three planes passingthrough the TCR HMD 120 antenna locations at angles computed from CPDmeasurements taken between each pair of antennae on the TCR HMD 120; or

2) Triangulateration: a 3D-position may be computed directly from thedistance between the TCR Controller 110′ and TCR HMD 120 (CPR orbaseband range measurement), and two of the three angles in the TCR HMD120 coordinate frame (XY, XZ, YZ) that can be computed from the CPDmeasurements taken between each pair of antennae on the TCR HMD 120.This latter method simply measures the position via a distance and abearing from a known position.

The TCR HMD 120 measurements of CPD from 3 antennae on the TCR HMD 120and CPR measurement between the antennae on the TCR HMD 120 and thesingle antenna on the TCR Controller 110′ may be used to calculate thedistance and angles.

Additional CPD measurements and antennas may be used to over-determineand improve the positioning solution. Additional TCR measurements(Baseband Range, CPV, TDR, etc.) may be used to further aid thepositioning solution but are not required.

Furthermore, in an additional alternative embodiment, if the orientationof the TCR HMD 120 is known, may be measured or estimated, or remainsfixed relative to the local level frame, then by adding an IMU to theTCR Controller 110′, the 3D-orientation of the TCR Controller 110′ maybe estimated separately or together with the above-identified determinedposition in a single fusion method to obtain a full sixdegree-of-freedom determination of the TCR Controller 110′ with respectto the TCR HMD 120.

FIG. 21 , similar to FIG. 2 , illustrates a second embodiment of alogical element schematic of a TCR Controller device 100′. Particularly,FIG. 21 illustrates a logical element schematic 200′ of a TCR Controllerdevice 110′ of the second embodiment comprising a plurality of physicalsensors 210 that collect raw data observables and includes a singleRx/Tx antenna 212′, an IMU device 218 and/or a GPS device 220.

FIG. 22 , similarly to FIG. 4 , illustrates a second embodiment of aschematic diagram of an illustrative sensor hardware on a TCR Controllerdevice 100′. Particularly, FIG. 22 illustrates a schematic diagram 400′of the second embodiment of sensor hardware on the TCR Controller device110′. The TCR Controller device 110′ may include a single Tx/Rx antenna402′. The TCR Controller device 110 may also include an IMU 420 andmagnetometer 430 for providing raw data observables to determineorientation/attitude with respect to the TCR HMD device 120 as describedabove.

FIG. 23 , similarly to FIG. 9 , illustrates a second embodiment of asignal processing schematic diagram representing signal paths of rawdata observable measurements and their corresponding processing viasensor fusion algorithms into a fused data output. Particularly, FIG. 23illustrates a signal processing schematic diagram 900′ representingsignal paths of raw data observable measurements 910′ and theircorresponding processing via sensor fusion algorithms 940 into a fuseddata output 960. Software for sensor fusion for the illustrativeembodiments described herein may occur on an embedded processor, digitalsignal processor (DSP), field programmable gate array (FPGA), orapplication-specific integrated circuit (ASIC) that is present on theTCR Controller device 110′, TCR HMD device 120, and/or an external hostPC or computing device.

Raw data sensor observable measurements 910′ at either the TCRController device 110′ and/or the TCR HMD device 120 may be taken fromthree sources: an IMU 912, TCR antenna(e) providing CPR and CPDmeasurements 914′, and TCR antenna(e) providing CPV measurements 924.

CPR or Baseband Range and HMD CPD 914′ logic element obtains CPR and CPDobservable data from antenna signals on the TCR HMD device 120 based onsignals received from the single RX/TX antenna of the TCR Controller110′. Particularly, CPD observable data is collected from discrete CPDantenna pairs 916 of the TCR HMD device 120, for example, represented bya first antenna 918 and a second corresponding antenna 920 of a CPDantenna pair 916. Antennae baseline distance 922 between eachcorresponding antenna pair 918, 920 of the TCR HMD device 120 is alsocollected to be used to calculate the CPD observable data. CPR/CPD data924.1′ may be sent to initialization algorithm 942 of position andorientation/attitude and the same CPR/CPD data 914.2′ may be sent to theTCR pre-filter algorithm 948. TCR pre-filter data 948.1′ is subsequentlysent to the EKF 950 for further filtering based on CPV data 924.1.Thereafter, EKF filter algorithm 950 outputs EKF filtered data 950.1′ toprovide a fused data output 960 comprising six-degrees of freedomposition and orientation output 962.

FIGS. 24 and 25 , similar to FIGS. 10 and 11 , illustrate a secondembodiment of a communication sequence between corresponding TCR devicesof the position and orientation determining system 100′ as shown fromFIGS. 21 to 23 .

FIG. 24 , similarly to FIG. 10 , illustrates a second embodiment of afirst communication sequence between corresponding TCR devices of theposition and orientation determining system. Particularly, FIG. 24illustrates a second illustrative embodiment of a communication sequenceoriginated by a TCR Originator device 1000, e.g., TCR HMD device 120,and a TCR Transponder device 1060′, e.g., TCR Controller device 110′having a single antenna. First, the TCR Originator device 1000 activatesa transmitter antenna, e.g., ANT 1 TX/RX 1012, to transmit a preambleand a data payload via a carrier frequency at operation 1012.1 to theTCR Transponder 1060′ for reception by the single receiving antennathereon, e.g., ANT TX/RX 1072′.

Upon receiving the preamble and data payload from the TCR Originator1000, the TCR Transponder 1060′ forwards the antenna received preambleand data payload to the raw data observable measurements unit 1080 forcalculation of CPR, CPD and CPV observable measurements in addition toIMU and/or magnetometer 1076 data, and/or GPS 1078 data. These data arethen processed by the sensor fusion algorithms 1082, to produce basebandranging data including master clock number counts, clock dynamicmeasurements and time-of-flight data, CPR data, CPV data, CPD data andorientation data based on the IMU/MAG device 1076. The data afterpassing through the EKF (e.g., EKF 950 in FIG. 23 ) is then output asfused data output 1084.

FIG. 25 , similarly to FIG. 11 , illustrates a second embodiment of asecond subsequent communication sequence between corresponding TCRdevices of the position and orientation determining system.Particularly, FIG. 25 illustrates a second illustrative embodiment of acommunication sequence where a TCR Transponder device 1060′ responds tothe communication received from the TCR Originator device 1000 of FIG.24 . The fused data output 1084 previously output by the sensor fusionalgorithms 1082 is sent as a data payload with a TCR Transponderspecific preamble to the transmitter antenna of the TCR Transponder,e.g., ANT TX/RX 1072′. The transmitting antenna transmits the TCRTransponder 1060 preamble and data payload 1072.1′ to any receivingantennae of the TCR Originator device 1000, e.g., in this illustration,ANT1 to ANT4, designated by reference numbers 1012, 1014, 1016 and 1018.

In a manner similar to the first embodiment illustrated in FIG. 9 , thefused data output 1034 at operation 1034.1′ may be output to a displaydriver 1040 integral with the TCR Originator device 1000 to processgraphic display information for presentation to a graphic display 1050integrated with or for use in conjunction with the TCR Originator device1000.

In an alternative illustrative embodiment, the fused data output 1034 atoperation 1034.2′ may be output to a remote AR/VR system processor 1090that may further process the fused data output 1034 and at operation1090.1′ and return data to the display driver 1040 of the TCR Originatordevice 1000 for presentation to the graphic display 1050.

FIG. 26 , similarly to FIG. 12 , illustrates a second embodiment of aschematic diagram of one illustrative embodiment of a position andorientation determining system comprising a TCR Transponder device and aTCR Originator device, where a position and orientation of the TCRTransponder device is calculated relative to a reference frame of theTCR Originator device. Particularly, FIG. 26 illustrates a schematicdiagram of one illustrative embodiment of a position and orientationdetermining system 1200′ comprising a TCR Transponder device 1210′ and aTCR Originator device 1220, where a position and orientation of the TCRTransponder device 1210′ is calculated relative to a reference frame ofthe TCR Originator device 1220.

A TCR Transponder device 1210′ comprises a single antenna 1212′ and IMUand/or magnetometer 1214 similar to the illustration in FIGS. 21-22 . ATCR Originator device 1220 comprises an antenna array 1224 similar tothe illustration in FIG. 5 and a graphical display 1226. TCR Originatordevice 1220 additionally includes a TCR Originator coordinate frame1222, having planes XY, YZ, and XZ to which the TCR Transponder device1210′ is oriented against.

FIG. 27 , similarly to FIG. 13 , illustrates a second embodiment of alogic flowchart describing a method of determining a position andorientation of the TCR Transponder device relative to the TCR Originatordevice. Particularly, FIG. 27 further illustrates a logic flowchartdescribing a method of determining a position and orientation of the TCRTransponder device 1210′ (substantially equivalent to the TCR controller110′ of illustrated in FIGS. 21-22 and 24-25 ), relative to the TCROriginator device 1220, where the method comprises providing 2700 a TCRradio frequency (RF) Transponder device 1210 including a firstconstellation of antennae 1212 including at least two receiving antennaeand at least one transmitting antenna, a first radio unit incommunication with the first constellation of antennae 1212.

The method further comprises 2702 providing a TCR RF Originator device1220 including a second constellation of antennae 1224 including atleast three receiving antennae and at least one transmitting antenna, asecond radio unit in communication with the second constellation ofantennae 1224, a processor in communication with the second radio unitand the second constellation of antennae 1224, and a graphical display1226.

The method further comprises determining 2704 a three-dimensionalposition and three-axis angular orientation of the TCR RF Transponderdevice 1210 relative to the TCR RF Originator device 1220 based oncalculating a carrier phase difference (CPD) measurement of phasedifference based on signals received from the TCR RF Originator device1220 between each discrete pair of receiving antennae of the at leastthree receiver antennae of the TCR RF device 1220.

The method further comprises rendering 2706 an image on a graphicaldisplay 1226 of the TCR RF Originator device 1220 in one a virtualreality or an augmented realty environment based on the determinedthree-dimensional position of the TCR RF Transponder device 1210relative to the TCR RF Originator device 1220.

Wherein the method including determining, by the processor of the secondRF device 1220, the three-dimensional position of the first RF device1210′ relative to the second RF device, further includes computing anintersection of three planes passing through each of the at least threereceiving antenna locations 1224 based on computing three angles in thesecond RF device 1220 coordinate frame (XY, XZ and YZ) 1222.

Wherein the method including determining; by the processor of the secondRF device 1220, the three-dimensional position of the first RF device1210′ relative to the second RF device 1220 further includes computing adistance between the first RF device 1210′ and the second RF device1220.

Wherein the method of computing the distance between the first RF device1210′ and the second RF device 1220 further includes measuring a carrierphase range (CPR) measurement of the distance between the transactingfirst RF 1210′ and second RF 1220 devices.

Wherein the method of computing the distance between the first RF device1210′ and the second RF device 1220 further includes measuring abaseband code phase range measurement of round-trip RF time-of-flight(TOF) representing the distance between the transacting first RF 1210′and second RF 1220 devices.

Wherein the method of determining CPD measurement of phase differencefurther includes subtracting a first carrier phase measured from the atleast one antenna 1212′ of the first RF device 1210′ at a firstreceiving antenna of a pair of the at least three receiving antennae1224 of the second RF device 1220, from a second carrier phase measuredfrom the at least one antenna 1212′ of the first RF device at a secondreceiving antenna of the pair of the at least three receiving antennae1224 of the second RF device 1220. The method further includescalculating an angle of bearing to the first RF device 1210′ relative tothe coordinate frame 1222 of the second RF device 1220 by determining aquotient of the determined CPD measurement over a baseline distancebetween the pair of the at least three receiving antennae 1224 of thesecond RF device 1220.

The method of determining the three-dimensional position furtherincludes providing the first RF device 1210′ with an inertialmeasurement unit (IMU) 1214; and determining a three-axis angularorientation of the first RF device 1210′ relative to the second RFdevice 1220 based on estimating a direction of a gravity vectorgenerated by the IMU 1214.

FIG. 28 , similarly to FIG. 14 , illustrates a second embodiment of aschematic diagram of another illustrative embodiment of a position andorientation determining system comprising a TCR Originator device 1420,a TCR Transponder device 1410′, (substantially equivalent to the TCRcontroller 110′ of illustrated in FIGS. 21-22 and 24-25 ), and anexternal TCR processing device 1430. Particularly, FIG. 28 illustrates aschematic diagram of another illustrative embodiment of a position andorientation determining system 1400′ comprising a TCR Originator device1410′, a TCR Transponder device 1420 and an external TCR processingdevice 1430, where 1) a position and orientation of the TCR Transponderdevice 1420 is calculated relative to a reference frame of the TCROriginator device 1410′, and 2) a position and orientation of the TCROriginator device 1410′ is further determined relative to a referenceframe of the external TCR processing device 1430.

A TCR Transponder 1410′ comprises a single antenna 1412′ and IMU and/ormagnetometer 1414 similar to the illustration in FIGS. 21-22 . A TCROriginator 1420 comprises an antenna array 1424 similar to theillustration in FIG. 5 , a graphical display 1426 and an IMU and/ormagnetometer 1428. TCR Originator 1420 additionally includes a TCROriginator coordinate frame 1422, having planes XY, YZ, and XZ to whichthe TCR Transponder 1410′ is oriented against. A reference TCR 1430includes a reference TCR coordinate frame having axes Xref, Yref andZref, and a reference TCR antenna array 1434.

FIGS. 29-30 , similarly to FIGS. 15-16 , illustrate a second embodimentof a logic flowchart describing method of determining a position andorientation of an object in accordance with the illustration of andcorresponding description of FIG. 28 . Particularly, FIGS. 29-30 furtherillustrate a logic flowchart describing method of determining a positionand orientation of an object comprising providing 2900 a TCR radiofrequency (RF) Transponder device 1410′ including an antenna 1412′ thatmay be both a receiving and a transmitting antenna, and a first radiounit in communication with the first antenna 1412′.

The method further comprises providing 2902 a TCR RF Originator device1420 including a second constellation of antennae 1424 including atleast three receiving antennae and at least one transmitting antenna, asecond radio unit in communication with the second constellation ofantennae 1424, a processor in communication with the second radio unitand the second constellation of antennae 1424, and a graphical display1426.

The method further comprises determining 2904 a first three-dimensionalposition and first three-axis angular orientation of the TCR RFTransponder device 1410′ relative to the TCR RF Originator device 1420based on calculating a first carrier phase difference (CPD) measurementof phase difference based on signals received from the TCR RFTransponder device 1410′ between each discrete pair of receivingantennae of the at least three receiver antennae of the TCR RFOrigination 1420 device.

The method further comprises providing 2906 a reference TCR RF device1430 including a third constellation of antennae 1434 including at leastthree receiving antennae and at least one transmitting antenna, a thirdradio unit in communication with the third constellation of antennae, aprocessor in communication with the third radio unit and the thirdconstellation of antennae 1434.

The method further comprises determining 2908 a second three-dimensionalposition and second three-axis angular orientation of the TCR RFOrigination device 1420 relative to the reference TCR RF device 1430based on calculating a second CPD measurement of phase difference basedon signals received from the TCR RF Origination device 1420 between eachdiscrete pair of receiving antennae of the at least three receiverantennae of the reference TCR RF device 1430.

The method further comprises rendering 2910 an image on the graphicaldisplay 1426 of the TCR RF Origination device 1420 in one a virtualreality or an augmented realty environment based on the determined firstthree-dimensional position and first three-axis angular orientation ofthe TCR RF Transponder device 1410″ relative to the TCR RF Originationdevice 1420, and the second determined three-dimensional position andsecond three-axis angular orientation of the TCR RF Origination device1420 relative to the reference TCR RF device 1430.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1410′ relative to the TCR RFOrigination device 1420 based on unwrapped carrier phase range (CPR)samples.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1410′ relative to the TCR RF Originatordevice 1420 by determining at least two of three angles of the TCR RFTransponder device relative to a coordinate frame (XY, XZ, YZ) of theTCR RF Originator device 1420 based on determining CPD measurement ofphase difference by subtracting 1) a first carrier phase range (CPR)determined distance between a transmitting antenna of the TCR RFTransponder device and a first receiving antenna of a pair of receivingantennae of the at least three receiver antennae of the TCR RFOriginator device 1420, from 2) a second CPR determined distance betweenthe transmitting antenna of the TCR RF Transponder device 1410′ and asecond receiving antenna of the pair of receiving antennae of at leastthree receiver antennae of the TCR RF Originator device 1420.

The method of determining a position and orientation of an objectwherein determining the three-dimensional position of the TCR RFTransponder device relative to the TCR RF Originator device 1420 bydetermining at least two of three angles of the TCR RF Transponderdevice 1410′ relative to the coordinate frame of the TCR RF Originatordevice 1420 further comprises calculating an angle of the TCR RFTransponder device 1410′ relative to the coordinate frame of the TCR RFOriginator device 1420 by determining a quotient of the determined CPDover a baseline distance between the pair of receiving antennae of theTCR RF Originator device 1420.

The method further comprises providing each antenna of the first 1412′and second 1424 constellations of antennae as circular polarizedantennae.

The method further comprises providing the first constellation ofantennae 1412′ as one of linear polarized antennae or circular polarizedantennae, and the second constellation of antennae 1424 as the other oneof linear polarized antennae or circular polarized antennae.

FIG. 31 , similarly to FIG. 17 , illustrates a second embodiment of aschematic diagram of another illustrative embodiment of a position andorientation determining system comprising a TCR Originator device, a TCRTransponder device and an external reference frame. Particularly, FIG.31 illustrates a schematic diagram of another illustrative embodiment ofa position and orientation determining system 1700′ comprising a TCRTransponder device 1710′, (substantially equivalent to the TCRcontroller 110′ of illustrated in FIGS. 21-22 and 24-25 ), a TCROriginator device 1720 and an external reference frame 1740, where 1) aposition and orientation of the TCR Transponder device 1710′ iscalculated relative to a reference frame of the TCR Originator device1720, and 2) a position and orientation of the TCR Originator device1720 is further determined relative to the external reference frame1740.

A TCR Transponder 1710′ comprises a single antenna 1712′ and an IMUand/or magnetometer 1714 similar to the illustration in FIGS. 21-22 . ATCR Originator 1720 comprises an antenna array 1724 similar to theillustration in FIG. 5 , a graphical display 1726, an IMU and/ormagnetometer 1728 and a GPS receiver 1730. TCR Originator 1720additionally includes a TCR Originator coordinate frame 1722, havingplanes XY, YZ, and XZ to which the TCR Transponder 1710′ is orientedagainst. The position and orientation determining system 1700′additionally includes an external coordinate frame 1740 having axesXext, Yext and Zext against which the TCR Originator device 1720 ispositioned and oriented with respect to. The external coordinate frame1740 may include a Global Positioning System (GPS) coordinate referenceframe.

FIGS. 32-33 , similarly to FIGS. 18-19 , illustrate a second embodimentof a logic flowchart describing method of determining a position andorientation of an object in accordance with the illustration andcorresponding description of FIG. 31 . Particularly, FIGS. 32 and 33further illustrate a logic flowchart describing method of determining aposition and orientation of an object comprising providing 3200 a TCRradio frequency (RF) Transponder device 1710′ including an antenna 1712′that may be both a receiving and a transmitting antenna, and a firstradio unit in communication with the antenna 1712′.

The method further comprises providing 3202 a TCR RF Originator device1720 including a second constellation of antennae 1724 including atleast three receiving antennae and at least one transmitting antenna, asecond radio unit in communication with the second constellation ofantennae 1724, a processor in communication with the second radio unitand the second constellation of antennae 1724, a graphical display 1726,a global positioning system (GPS) receiver 1730.

The method further comprises determining 3204 a first three-dimensionalposition and first three-axis angular orientation of the TCR RFTransponder device 1710′ relative to the TCR RF Originator device 1720based on calculating a first carrier phase difference (CPD) measurementof phase difference based on signals received from the TCR RFTransponder device 1710′ between each discrete pair of receivingantennae of the at least three receiver antennae of the TCR RFOriginator device 1720.

The method further comprises determining 3206 a second three-dimensionalposition of the TCR RF Originator device 1720 relative to an externalcoordinate system based on receiving a signal at the GPS receiver.

The method further comprises determining 3208 a second three-axisangular orientation of the TCR RF Originator device 1720 based onreceiving a signal from the IMU 1714 of the TCR RF Originator device1720.

The method further comprises rendering 3210 an image on the graphicaldisplay 1826 of the TCR RF Originator device 1720 in one a virtualreality or an augmented realty environment based on the determined firstthree-dimensional position and first three-axis angular orientation ofthe TCR RF Transponder device 1710′ relative to the TCR RF Originatordevice 1720, and the second determined three-dimensional position andsecond three-axis angular orientation of the TCR RF Originator device1720.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1710′ relative to the TCR RF Originatordevice 1720 based on unwrapped carrier phase range (CPR) samples.

The method further comprises determining the three-dimensional positionof the TCR RF Transponder device 1710′ relative to the TCR RF Originatordevice 1720 by determining at least two of three angles of the TCR RFTransponder device 1710′ relative to a coordinate frame (XY, XZ, YZ) ofthe TCR RF Originator device 1720 based on determining CPD measurementof phase difference by subtracting 1) a first carrier phase range (CPR)determined distance between a transmitting antenna of the TCR RFTransponder device 1710′ and a first receiving antenna of a pair ofreceiving antennae of the at least three receiver antennae of the TCR RFOriginator device 1720, from 2) a second CPR determined distance betweenthe transmitting antenna of the TCR RF Transponder device 1710′ and asecond receiving antenna of the pair of receiving antennae of at leastthree receiver antennae of the TCR RF Originator device 1720.

The method of determining a position and orientation of an object wheredetermining the three-dimensional position of the TCR RF Transponderdevice 1710′ relative to the TCR RF Originator device 1720 bydetermining at least two of three angles of the TCR RF Transponderdevice 1710′ relative to the coordinate frame of the TCR RF Originatordevice 1720 further comprises calculating an angle of the TCR RFTransponder device 1710′ relative to the coordinate frame 1722 of theTCR RF Originator device 1720 by determining a quotient of thedetermined CPD over a baseline distance between the pair of receivingantennae of the TCR RF Originator device 1720.

The method further comprises providing each antenna of the first 1714and second 1724 constellations of antennae as circular polarizedantennae.

The method further comprises providing at least one but not all of thefirst 1714 or second 1724 constellations of antennae as linear polarizedantennae, and providing the remainder of the first 1714 or second 1724constellations of antennae as circular polarized antennae.

Regarding the routines presented in the methods illustrated in FIG. 13 ,FIGS. 15-16 , FIGS. 18-19 , FIG., 27, FIGS. 29-30 and FIGS. 32-33 itshould be appreciated that while they are expressed with discrete steps,these steps should be viewed as being logical in nature and may or maynot correspond to any actual, discrete steps. Moreover, while theseroutines are set forth in a particular order in carrying out variousfunctionality, the order that these steps are presented should not beconstrued as the only order in which the various steps may be carriedout in their respective routines. Further, those skilled in the art willappreciate that logical steps may be combined together or be comprisedof multiple steps.

While certain features of the described illustrative embodiments havebeen illustrated as described herein, many modifications, substitutions,changes and equivalents will now occur to those skilled in the art. Itis, therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the scope of theillustrative embodiments. It should be understood the illustrativeembodiments described herein have been presented by way of example only,not limitation, and various changes in form and details may be made. Anyportion of the apparatus and/or methods described herein may be combinedin any combination, except mutually exclusive combinations. Theillustrative embodiments described herein can include variouscombinations and/or sub-combinations of the functions, components and/orfeatures of the different illustrative embodiments described.

What is claimed is:
 1. A position determining system comprising: a firstradio frequency (RF) device including at least one antenna configured toreceive and transmit RF signals, and a first radio unit in communicationwith the at least one antenna; a second RF device including aconstellation of antennae including at least three receiving antennae, asecond radio unit in communication with the constellation of antennae;and a processor configured to determine a three-dimensional position ofthe first RF device relative to the second RF device based on computingat least two of three angles in the second RF device coordinate frame(XY, XZ and YZ) computed from carrier phase difference (CPD)measurements taken between each pair of the at least three receivingantennae when receiving a single RF signal transmitted from the at leastone antenna of the first RF device.
 2. The position determining systemaccording to claim 1, wherein the processor is further configured todetermine the three-dimensional position of the first RF device relativeto the second RF device based on computing an intersection of threeplanes passing through each of the at least three receiving antennalocations based on computing three angles in the second RF devicecoordinate frame (XY, XZ and YZ).
 3. The position determining systemaccording to claim 1, wherein the processor is further configured todetermine the three-dimensional position of the first RF device relativeto the second RF device based on computing a distance between the firstRF device and the second RF device.
 4. The position determining systemaccording to claim 3, wherein computing the distance between the firstRF device and the second RF device is based on carrier phase range (CPR)measurement of the distance between the transacting first RF and secondRF devices.
 5. The position determining system according to claim 3,wherein computing the distance between the first RF device and thesecond RF device is based a baseband code phase range measurement ofround-trip RF time-of-flight (TOF) representing the distance between thetransacting first RF and second RF devices.
 6. The position determiningsystem according to claim 1, wherein the first RF device comprises acontroller configured to be hand held.
 7. The position determiningsystem according to claim 1, where the second RF device furthercomprises: a display driver configured to render images in one a virtualreality or an augmented realty environment based on the determinedthree-dimensional position of the first RF device relative to the secondRF device.
 8. The position determining system according to claim 1,wherein the at least one antenna of the first RF device and theconstellation of antennae of the second RF device comprise circularpolarized antennae.
 9. The position determining system according toclaim 1, wherein the at least one antenna comprises one of linearpolarized antenna or circular polarized antenna, and the constellationof antennae comprise the other one of the linear polarized antennae orthe circular polarized antennae.
 10. The position determining systemaccording to claim 1, wherein the processor is further configured todetermine the three-dimensional position of the first RF device relativeto the second RF device based on determining CPD measurement of phasedifference by subtracting a first carrier phase measured from the atleast one antenna of the first RF device at a first receiving antenna ofa pair of the at least three receiving antennae of the second RF device,from a second carrier phase measured from the at least one antenna ofthe first RF device at a second receiving antenna of the pair of the atleast three receiving antennae of the second RF device, and calculatingan angle of bearing to the first RF device relative to the coordinateframe of the second RF device by determining a quotient of thedetermined CPD measurement over a baseline distance between the pair ofthe at least three receiving antennae of the second RF device.
 11. Aposition and orientation determining system comprising: a first radiofrequency (RF) device including at least one antenna configured toreceive and transmit RF signals, a first radio unit in communicationwith the at least one antenna, and an inertial measurement unit (IMU); asecond RF device including a constellation of antennae including atleast three receiving antennae, a second radio unit in communicationwith the constellation of antennae; and a processor configured todetermine a three-dimensional position and three-axis angularorientation of the first RF device relative to the second RF devicebased on computing at least two of three angles in the second RF devicecoordinate frame (XY, XZ and YZ) computed from carrier phase difference(CPD) measurements taken between each pair of the at least threereceiving antennae when receiving a single RF signal transmitted fromthe at least one antenna of the first RF device, and estimating adirection of a gravity vector generated by the IMU.
 12. The position andorientation determining system according to claim 11, wherein theprocessor is further configured to determine the three-dimensionalposition of the first RF device relative to the second RF device basedon computing an intersection of three planes passing through each of theat least three receiving antenna locations based on computing threeangles in the second RF device coordinate frame (XY, XZ and YZ).
 13. Theposition and orientation determining system according to claim 11,wherein the processor is further configured to determine thethree-dimensional position of the first RF device relative to the secondRF device based on computing a distance between the first RF device andthe second RF device.
 14. The position and orientation determiningsystem according to claim 13, wherein computing the distance between thefirst RF device and the second RF device is based on carrier phase range(CPR) measurement, of the relative distance between the transactingfirst RF and second RF devices.
 15. The position and orientationdetermining system according to claim 13, wherein computing the distancebetween the first RF device and the second RF device is based a basebandcode phase range measurement of round-trip RF time-of-flight (TOF)representing the relative distance between the transacting first RF andsecond RF devices.
 16. The position and orientation determining systemaccording to claim 11, wherein the first RF device comprises acontroller configured to be hand held.
 17. The position and orientationdetermining system according to claim 11, where the second RF devicefurther comprises: a display driver configured to render images in one avirtual reality or an augmented realty environment based on thedetermined three-dimensional position of the first RF device relative tothe second RF device.
 18. The position and orientation determiningsystem according to claim 11, wherein the processor is furtherconfigured to determine the three-dimensional position of the first RFdevice relative to the second RF device based on determining CPDmeasurement of phase difference by subtracting a first carrier phasemeasured from the at least one antenna of the first RF device at a firstreceiving antenna of a pair of the at least three receiving antennae ofthe second RF device, from a second carrier phase measured from the atleast one antenna of the first RF device at a second receiving antennaof the pair of the at least three receiving antennae of the second RFdevice, and calculating an angle of bearing to the first RF devicerelative to the coordinate frame of the second RF device by determininga quotient of the determined CPD measurement over a baseline distancebetween the pair of the at least three receiving antennae of the secondRF device.
 19. A method of determining a three-dimensional position of afirst radio frequency (RF) device relative to a second RF device, themethod comprises: providing the first RF device including at least oneantenna configured to receive and transmit RF signals, and a first radiounit in communication with the at least one antenna; providing thesecond RF device including a constellation of antennae including atleast three receiving antennae, a second radio unit in communicationwith the constellation of antennae, and a processor in communicationwith the second radio unit and the constellation of antennae; anddetermining, by the processor of the second RF device, athree-dimensional position of the first RF device relative to the secondRF device based on computing at least two of three angles in the secondRF device coordinate frame (XY, XZ and YZ) computed from carrier phasedifference (CPD) measurements taken between each pair of the at leastthree receiving antennae when receiving a single RF signal transmittedfrom the at least one antenna of the first RF device.
 20. The method ofdetermining the three-dimensional position according to claim 19,wherein determining, by the processor of the second RF device, thethree-dimensional position of the first RF device relative to the secondRF device further comprises: computing an intersection of three planespassing through each of the at least three receiving antenna locationsbased on computing three angles in the second RF device coordinate frame(XY, XZ and YZ).
 21. The method of determining the three-dimensionalposition according to claim 19, wherein determining; by the processor ofthe second RF device, the three-dimensional position of the first RFdevice relative to the second RF device further comprises: computing adistance between the first RF device and the second RF device.
 22. Themethod of determining the three-dimensional position according to claim21, wherein computing the distance between the first RF device and thesecond RF device further comprises: measuring a carrier phase range(CPR) measurement of the distance between the transacting first RF andsecond RF devices.
 23. The method of determining the three-dimensionalposition according to claim 21, wherein computing the distance betweenthe first RF device and the second RF device further comprises:measuring a baseband code phase range measurement of round-trip RFtime-of-flight (TOF) representing the distance between the transactingfirst RF and second RF devices.
 24. The method of determining thethree-dimensional position according to claim 19, wherein determiningCPD measurement of phase difference further comprises: subtracting afirst carrier phase measured from the at least one antenna of the firstRF device at a first receiving antenna of a pair of the at least threereceiving antennae of the second RF device, from a second carrier phasemeasured from the at least one antenna of the first RF device at asecond receiving antenna of the pair of the at least three receivingantennae of the second RF device, and calculating an angle of bearing tothe first RF device relative to the coordinate frame of the second RFdevice by determining a quotient of the determined CPD measurement overa baseline distance between the pair of the at least three receivingantennae of the second RF device.
 25. The method of determining thethree-dimensional position according to claim 18, wherein the second RFdevice further includes a graphical display, and the method furthercomprises: rendering an image on the graphical display of the second RFdevice in one a virtual reality or an augmented realty environment basedon the determined three-dimensional position of the first RF devicerelative to the second RF device.
 26. The method of determining thethree-dimensional position according to claim 19, further comprising:providing the first RF device with an inertial measurement unit (IMU);and determining a three-axis angular orientation of the first RF devicerelative to the second RF device based on estimating a direction of agravity vector generated by the IMU.